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/**
 * @file fw_roll_controller.h
 * Definition of a simple roll P controller.
 */

#ifndef FW_ROLL_CONTROLLER_H
#define FW_ROLL_CONTROLLER_H

class RollController
{
public:
	RollController() = default;
	~RollController() = default;

	/**
	 * @brief Calculates both euler and body roll rate setpoints.
	 *
	 * @param roll_setpoint roll setpoint [rad]
	 * @param euler_yaw_rate_setpoint euler yaw rate setpoint [rad/s]
	 * @param roll estimated roll [rad]
	 * @param pitch estimated pitch [rad]
	 * @return Roll body rate setpoint [rad/s]
	 */
	float control_roll(float roll_setpoint, float euler_yaw_rate_setpoint, float roll, float pitch);

	void set_time_constant(float time_constant) { _tc = time_constant; }
	void set_max_rate(float max_rate) { _max_rate = max_rate; }

	float get_euler_rate_setpoint() { return _euler_rate_setpoint; }
	float get_body_rate_setpoint() { return _body_rate_setpoint; }

private:
	float _tc;
	float _max_rate;
	float _euler_rate_setpoint;
	float _body_rate_setpoint;
};

#endif // FW_ROLL_CONTROLLER_H